JPS61146483A - Master/slave system manipulator - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a master-slave type manipulator in which a control lever similar to a working machine is a mask, and the working machine is a slave.

[Conventional technology]

Conventionally, in this type of manipulator, when a large force is required to drive a working machine, a hydraulic actuator or meter such as a hydraulic motor or a hydraulic cylinder is used.

Further, a flow control servo valve is usually used to control this hydraulic actuator.

Then, the positional deviation between the working machine and the control lever is determined, and the working machine is controlled by the above-mentioned hydraulic actuator until the deviation becomes zero.

By the way, some manipulators of this type are configured to transmit an external force such as the weight of a load held by a working machine to an oiler through a control lever.

FIG. 7 is a schematic configuration diagram of a single-stroke manipulator illustrating an example thereof, and the working machine 1 is driven by a hydraulic cylinder 2. In FIG. The hydraulic cylinder 2 drives the work implement 1 by being supplied with an amount of oil from the flow rate control servo valve 3 according to the positional deviation -10 between the control lever 4 and the work implement 1. At this time, the pressure in the hydraulic cylinder 2 is detected by the pressure sensor 5,
Depending on the detected value, a torque motor 6 provided at the joint of the control lever 4 is driven via a drive amplifier 7. As a result, driving force is applied to the control lever 4 in a direction opposite to the control direction in accordance with the external force applied to the work machine IK. As a result,
The oilator can sense the external force applied to the working machine 1 based on the magnitude of the operating force of the control lever 4.

The flow rate control servo valve 3 compares the output signal θ of a position sensor 8 provided at the joint of the control lever 4 with the output signal θ of a position sensor 9 provided at the joint of the work implement 1 using a comparator 1O. The opening degree is adjusted by the position deviation signal -101 obtained by doing so.

[Problem that the invention seeks to solve]

By the way, in such a force-sensing manipulator, the relationship between the input current of the flow rate control servo valve 30 and the pressure P has an extremely high slope near the midpoint P, as shown by the broken line in the characteristic diagram of FIG. It has become.

For this reason, there is no problem when the work is simply moving the #/c object, such as transportation work, but when working with a grinder, the appropriate pressure is applied to the workpiece using the grinder attached to the tip of the working machine. If you work while pressing down, the pressure will change suddenly and operation will become extremely difficult. Therefore, it is conceivable to lower the output gain of the comparator 10, but in this case, the responsiveness during transportation work would be adversely affected.

[Means for solving problems]

SUMMARY OF THE INVENTION An object of the present invention is to provide a master-slave manipulator that can be operated with the same operational feeling in both position control work such as transportation work and force control work such as grinder work. In order to achieve this purpose, the signal of the position deviation between the control lever and the work machine is transmitted to the displacement speed of the work machine, the operation speed of the control lever, the spool displacement of the flow control servo valve, the control lever and the work machine. The system amplifies it with a gain proportional to either the speed deviation between the operating lever or the positional deviation between the control lever and the working machine, and inputs it as a drive signal for the flow rate control servo valve.

[For production]

As each of the above-mentioned parameters such as the displacement speed of the working machine increases, the input to the flow control servo valve increases proportionally. Therefore, the pressure change of the flow rate control servo valve also changes in proportion to the size of each meter.

〔Example〕

Hereinafter, the present invention will be explained in detail based on Examples.

Fig. 1 shows the flow control servo valve 3 by detecting the work equipment displacement speed θ,' and correcting the amplification gain of the positional deviation signal −θ between the control lever 4 and the work equipment 1 based on this detection output. FIG. 2 is a block diagram showing an embodiment of the present invention in which input information is input to the user.

In this embodiment, the displacement speed θI of the working machine 1 is the device detection signal θ constituted by the position detector 9.

is differentiated by a differentiating circuit 11, and the differentiated output is inputted to an absolute value circuit 12 to be extracted.

Accordingly, the displacement speed θ1/ of the work implement 1 is obtained as an absolute value. This absolute value of the displacement speed θI is input to the calculator 13.

The arithmetic unit 13 receives the output signal K・(
-10, ) is input, the maximum value θ, /max (absolute value) of the working machine displacement speed θ, l given as a constant is used as the denominator, and the offset value θ is determined. (constant) and actual displacement rate θ
The output signal K·(θ.−〇,) of the comparator IO is amplified by a gain whose numerator is the sum of , /.

That is, in the arithmetic unit 13, K・(θ□−θ,)X(lθ,/l + lθ.1)÷
10. The calculation t max l = (1) is performed. The signal resulting from the calculation is then supplied as a drive signal to the flow rate control servo valve 3.

Therefore, as the displacement speeds θ and l increase, the value of the calculation result increases in proportion to this. From this K, the displacement speed θ
, / is large, the pressure characteristics of the flow rate control serve valve 3 are as shown by the broken line in FIG. 7, and conversely, when 0. When / is small, the characteristics are as shown by the solid line. As a result, position value control work can be controlled with the characteristics shown by the broken line in FIG. 7, and force control work can be controlled with the characteristics shown by the solid line in FIG.

Note that the offset value 0° is rounded to prevent the output of the arithmetic unit 13 from becoming zero.

Figure 2 shows the displacement speed θ□ of the control lever 4! FIG. 3 is a block diagram showing a second embodiment of the present invention in which the flow rate control servo valve 3f is driven by detecting the flow rate control servo valve 3f and correcting the gains of the position deviation signals θ and -θ using the detected output.

In this embodiment, the displacement speed -I of the control lever 4 is obtained by differentiating the device detection signal θ made from the position detector 8 in a differentiating circuit 14, and further inputting the differential output to the absolute value circuit 12. ing.

As a result, the displacement speed θrn/motor of the control lever 4 is taken out as an absolute value. This absolute value of displacement speed l=t is input to the arithmetic unit 13, and after an offset value of 0° is added,
Maximum value (absolute value) of displacement speed 0/i9. Z m113m
is divided as the denominator, and the divided value is the position deviation - 10,
is multiplied as the amplification gain of .

As a result, in the arithmetic unit 13, K・(θ, -〇,)X(+6.,/l+Iθ.1)÷l
The calculation of flrnt max l (2) is performed, and the flow rate control servo valve 3 is driven by the signal of this calculation result.

This makes it possible to control the working machine 1 with the same pressure characteristics as in the first embodiment.

FIG. 3 shows a third embodiment of the present invention in which the spool displacement X of the flow rate control servo valve 3 is detected, and the gain of the position deviation signal θm-08 is corrected based on the detected output to drive the flow rate control servo valve. It is a block diagram showing an example of.

In this embodiment, the spool displacement X of the sage valve 3 is detected by a displacement meter 15, and the detected output is inputted into an absolute value circuit 12 to be extracted.

The spool displacement X taken out in this way.

is input to the arithmetic unit 13, and the offset value θ is input to the arithmetic unit 13. are added, and then divided using the maximum value X, wax of the spool displacement X as the denominator, and the divided value is the position deviation θ knee θ.

divided as the amplification gain.

As a result, in the arithmetic unit 13, -(θ, -〇,)X(IX, I+Iθ.1)÷IX,
The calculation of mmxl (3) is performed, and the flow rate control servo valve 3 is driven by the signal of this calculation result.

This makes it possible to control the working machine 1 with the same pressure characteristics as in the first embodiment.

FIG. 4 is a block diagram showing a fourth embodiment of the present invention, in which the output signal θ of the position detector 8. is input into the differentiation circuit 16 to obtain the displacement speed θm' of the control lever 4, and at the same time, the output signal θ of the position detector 9 is input into the differentiation circuit 17 to obtain the displacement speed θ,/ of the work implement 1. The absolute value of the deviation θI-○I between these two displacement speeds θm' and θ81 is determined by the absolute value circuit 12, and the sum is inputted to the calculation m S unit 13 to obtain the offset value θ. After adding , the maximum value θm'-〇, /(max) of the speed deviation -I-〇,l is divided as the denominator, and the divided value is multiplied as the increase m S width gain of the position deviation θ-θ. This is what I did.

As a result, the arithmetic unit 13 calculates K・(−10,)
゜1)÷1(-!-〇、/ ) max l
...(4) is performed, and the flow rate control servo valve 3 is driven by the signal resulting from this calculation.

Thereby, the working machine 1 can be controlled with the same pressure characteristics as in the first embodiment.

In this case, the fact that the displacement speed θI of the work implement 1 is large means that the deviation between the operation position θ of the control lever 4 and the displacement position θ of the work implement 1 when viewed at the time when the work implement 1 starts driving is This is equivalent to the fact that θ□−θ is large.

Therefore, as in the fifth embodiment shown in FIG. 5, the absolute value of the deviation -10 between the output signals of the position detectors 8 and 9 is determined by the absolute value circuit 12, and this value and the offset value θ are calculated. Add and
The maximum value of -10 may be divided as the denominator, and the divided value may be used as the amplification gain of 110. As a result, the same effects as in the above-mentioned embodiments can be obtained.

In addition, although the above-mentioned embodiment was explained using a single-joint manibilizer as an example, it can be applied in exactly the same way to a multi-joint manibulator. Also, it can be similarly applied to manibids and rotors with force feedback type or force symmetric type operating principles.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, the pressure characteristics of the flow control sub-valve are corrected according to parameters such as the displacement speed of the work equipment, so grime work and load transfer work can be performed in exactly the same way. This can be done intuitively and has the effect of improving operability.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention;
5 to 5 are block diagrams showing second to fifth embodiments of the present invention, FIG. 6 is a block diagram showing the configuration of a conventional device, and FIG.
The figure is a graph showing the pressure characteristics of the flow rate control servo valve. <Explanation of symbols> 1... Work equipment, 2... Hydraulic cylinder, 3... Flow rate control vs valve, 4... Control lever, 5... Pressure sensor, 6... Torque motor , 8, 9... position detector,
10... Comparator, 11, 14, 16.17... Differential circuit, 12... Absolute value circuit, 13... Arithmetic unit, 15
...Displacement meter.

Claims (10)

[Claims] (1) An actuator coupled to a hydraulic cylinder, a control lever that generates a work command, a flow control servo valve that controls the amount of oil to the hydraulic cylinder, a pressure sensor that detects the pressure of the hydraulic cylinder, and this pressure sensor. and a torque motor that applies a driving force to the control lever in the opposite direction to the control direction proportional to the pressure of the hydraulic cylinder based on the output of the control lever. In a master-slave manipulator that displaces a working machine connected to a hydraulic actuator by changing the
A detection means for detecting the displacement speed of the work equipment and a calculation means for amplifying the signal of the positional deviation between the control lever and the work equipment with a gain proportional to the displacement speed of the work equipment detected by the detection means are provided. A master-slave type manipulator, characterized in that an output signal of the means is used as a drive signal for the flow control servo valve. (2) The master-slave type manipulator according to claim 1, wherein the gain of the calculation means is adjusted so as not to become zero. (3) An actuator connected to the hydraulic cylinder, a control lever that generates a work command, a flow control servo valve that controls the amount of oil to the hydraulic cylinder, a pressure sensor that detects the pressure of the hydraulic cylinder, and this pressure sensor. and a torque motor that applies a driving force to the control lever in the opposite direction to the control direction proportional to the pressure of the hydraulic cylinder based on the output of the control lever. In a master-slave manipulator that displaces a working machine connected to a hydraulic actuator by changing the
A detection means for detecting the displacement speed of the control lever and a calculation means for amplifying the signal of the positional deviation between the control lever and the work machine with a gain proportional to the displacement speed of the control lever detected by the detection means are provided. A master-slave type manipulator, characterized in that an output signal of the means is used as a drive signal for the flow control servo valve. (4) The master-slave type manipulator according to claim 3, wherein the gain of the calculation means is adjusted so as not to become zero. (5) An actuator coupled to the hydraulic cylinder, a control lever that generates a work command, a flow control servo valve that controls the amount of oil to the hydraulic cylinder, a pressure sensor that detects the pressure of the hydraulic cylinder, and this pressure sensor. and a torque motor that applies a driving force to the control lever in the opposite direction to the control direction proportional to the pressure of the hydraulic cylinder based on the output of the control lever. In a master-slave manipulator that displaces a working machine connected to a hydraulic actuator by changing the
A detection means for detecting the spool displacement of the flow rate control servo valve, and a calculation means for amplifying a signal of the positional deviation between the control lever and the working machine with a gain proportional to the spool displacement detected by the detection means, the calculation means A master-slave type manipulator, characterized in that an output signal of is used as a drive signal for the flow rate control servo valve. (6) The master-slave type manipulator according to claim 5, wherein the gain of the calculation means is adjusted so as not to become zero. (7) An actuator coupled to the hydraulic cylinder, a control lever that generates a work command, a flow control servo valve that controls the amount of oil to the hydraulic cylinder, a pressure sensor that detects the pressure of the hydraulic cylinder, and this pressure sensor. and a torque motor that applies a driving force to the control lever in the opposite direction to the control direction proportional to the pressure of the hydraulic cylinder based on the output of the control lever. In a master-slave manipulator that displaces a working machine connected to a hydraulic actuator by changing the
A detection means for detecting the deviation between the displacement speed of the work equipment and the displacement speed of the control lever, and a calculation for amplifying the signal of the positional deviation between the control lever and the work equipment with a gain proportional to the speed deviation detected by the detection means. 1. A master-slave type manipulator, characterized in that the manipulator is provided with means, and an output signal of the calculation means is used as a drive signal for the flow rate control servo valve. (8) The master-slave type manipulator according to claim 7, wherein the gain of the calculation means is adjusted so as not to become zero. (9) An actuator coupled to the hydraulic cylinder, a control lever that generates a work command, a flow control servo valve that controls the amount of oil to the hydraulic cylinder, a pressure sensor that detects the pressure of the hydraulic cylinder, and this pressure sensor. and a torque motor that applies a driving force to the control lever in the opposite direction to the control direction proportional to the pressure of the hydraulic cylinder based on the output of the control lever. In a master-slave manipulator that displaces a working machine connected to a hydraulic actuator by changing the
A master device characterized in that a calculation means is provided for amplifying a signal of a positional deviation between a work implement and a control lever with a gain proportional to the position deviation, and an output signal of the calculation means is used as a drive signal for the flow rate control servo valve. Slave method manipulator. (10) The master-slave type manipulator according to claim 9, wherein the gain of the calculation means is adjusted so as not to become zero.